Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-30 02:31:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Switches HAL to fixed length signed integers, and adds our own HAL_Bool Type (#155)

Browse Source 
* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type

* Replaces HAL Floats with Doubles

Doubles are just as fast as floats with optimizations turned on, so
switches to all doubles. All made doubles for consistency.

* Prepends HAL/ to HAL include files. Also fixes some range errors
This commit is contained in:
Thad House
2016-07-12 10:45:14 -07:00
committed by Peter Johnson
parent 4a98e68815
commit b51e85ae26
89 changed files with 900 additions and 795 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
hal/include/HAL/Accelerometer.h
View File

@@ -7,6 +7,8 @@
#pragma once
#include "HAL/Types.h"
enum HAL_AccelerometerRange {
HAL_AccelerometerRange_k2G = 0,
HAL_AccelerometerRange_k4G = 1,
@@ -14,7 +16,7 @@ enum HAL_AccelerometerRange {
};
extern "C" {
void HAL_SetAccelerometerActive(bool);
void HAL_SetAccelerometerActive(HAL_Bool);
void HAL_SetAccelerometerRange(HAL_AccelerometerRange);
double HAL_GetAccelerometerX();
double HAL_GetAccelerometerY();

12
hal/include/HAL/AnalogAccumulator.h
View File

@@ -9,11 +9,11 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
void HAL_InitAccumulator(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
void HAL_ResetAccumulator(HAL_AnalogInputHandle analog_port_handle,
@@ -24,8 +24,8 @@ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analog_port_handle,
int32_t deadband, int32_t* status);
int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
uint32_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analog_port_handle,
int64_t* value, uint32_t* count, int32_t* status);
int64_t* value, int64_t* count, int32_t* status);
}

16
hal/include/HAL/AnalogGyro.h
View File

@@ -9,7 +9,7 @@
#include <stdint.h>
#include "HAL/Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
@@ -17,17 +17,17 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle handle,
void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status);
void HAL_FreeAnalogGyro(HAL_GyroHandle handle);
void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
float voltsPerDegreePerSecond, float offset,
uint32_t center, int32_t* status);
double voltsPerDegreePerSecond, double offset,
int32_t center, int32_t* status);
void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
float voltsPerDegreePerSecond,
double voltsPerDegreePerSecond,
int32_t* status);
void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status);
void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status);
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, float volts,
void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t* status);
float HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status);
double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status);
float HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
uint32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);
double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status);
int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status);
}

35
hal/include/HAL/AnalogInput.h
View File

@@ -9,38 +9,37 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
// Analog input functions
HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle port_handle,
int32_t* status);
void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analog_port_handle);
bool HAL_CheckAnalogModule(uint8_t module);
bool HAL_CheckAnalogInputChannel(uint32_t pin);
HAL_Bool HAL_CheckAnalogModule(int32_t module);
HAL_Bool HAL_CheckAnalogInputChannel(int32_t pin);
void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status);
float HAL_GetAnalogSampleRate(int32_t* status);
double HAL_GetAnalogSampleRate(int32_t* status);
void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status);
uint32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t bits, int32_t* status);
int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle,
uint32_t bits, int32_t* status);
uint32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int16_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle,
int32_t bits, int32_t* status);
int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analog_port_handle,
double voltage, int32_t* status);
float HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
float HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
uint32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analog_port_handle,
int32_t* status);
}

4
hal/include/HAL/AnalogOutput.h
View File

@@ -9,7 +9,7 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(
@@ -19,5 +19,5 @@ void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle,
double voltage, int32_t* status);
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analog_output_handle,
int32_t* status);
bool HAL_CheckAnalogOutputChannel(uint32_t pin);
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t pin);
}

19
hal/include/HAL/AnalogTrigger.h
View File

@@ -9,7 +9,7 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
enum HAL_AnalogTriggerType {
HAL_Trigger_kInWindow = 0,
@@ -20,7 +20,7 @@ enum HAL_AnalogTriggerType {
extern "C" {
HAL_AnalogTriggerHandle HAL_InitializeAnalogTrigger(
HAL_AnalogInputHandle port_handle, uint32_t* index, int32_t* status);
HAL_AnalogInputHandle port_handle, int32_t* index, int32_t* status);
void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analog_trigger_handle,
int32_t* status);
void HAL_SetAnalogTriggerLimitsRaw(
@@ -30,13 +30,14 @@ void HAL_SetAnalogTriggerLimitsVoltage(
HAL_AnalogTriggerHandle analog_trigger_handle, double lower, double upper,
int32_t* status);
void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analog_trigger_handle,
bool useAveragedValue, int32_t* status);
HAL_Bool useAveragedValue, int32_t* status);
void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analog_trigger_handle,
bool useFilteredValue, int32_t* status);
bool HAL_GetAnalogTriggerInWindow(HAL_AnalogTriggerHandle analog_trigger_handle,
int32_t* status);
bool HAL_GetAnalogTriggerTriggerState(
HAL_Bool useFilteredValue, int32_t* status);
HAL_Bool HAL_GetAnalogTriggerInWindow(
HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status);
bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analog_trigger_handle,
HAL_AnalogTriggerType type, int32_t* status);
HAL_Bool HAL_GetAnalogTriggerTriggerState(
HAL_AnalogTriggerHandle analog_trigger_handle, int32_t* status);
HAL_Bool HAL_GetAnalogTriggerOutput(
HAL_AnalogTriggerHandle analog_trigger_handle, HAL_AnalogTriggerType type,
int32_t* status);
}

45
hal/include/HAL/Compressor.h
View File

@@ -9,34 +9,35 @@
#include <stdint.h>
#include "HAL/Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_CompressorHandle HAL_InitializeCompressor(uint8_t module, int32_t* status);
bool HAL_CheckCompressorModule(uint8_t module);
HAL_CompressorHandle HAL_InitializeCompressor(int32_t module, int32_t* status);
HAL_Bool HAL_CheckCompressorModule(int32_t module);
bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle, int32_t* status);
HAL_Bool HAL_GetCompressor(HAL_CompressorHandle compressor_handle,
int32_t* status);
void HAL_SetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle,
bool value, int32_t* status);
bool HAL_GetCompressorClosedLoopControl(HAL_CompressorHandle compressor_handle,
int32_t* status);
bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle,
int32_t* status);
float HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle,
int32_t* status);
bool HAL_GetCompressorCurrentTooHighFault(
HAL_Bool value, int32_t* status);
HAL_Bool HAL_GetCompressorClosedLoopControl(
HAL_CompressorHandle compressor_handle, int32_t* status);
bool HAL_GetCompressorCurrentTooHighStickyFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
bool HAL_GetCompressorShortedStickyFault(HAL_CompressorHandle compressor_handle,
HAL_Bool HAL_GetCompressorPressureSwitch(HAL_CompressorHandle compressor_handle,
int32_t* status);
bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle,
int32_t* status);
bool HAL_GetCompressorNotConnectedStickyFault(
double HAL_GetCompressorCurrent(HAL_CompressorHandle compressor_handle,
int32_t* status);
HAL_Bool HAL_GetCompressorCurrentTooHighFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
HAL_Bool HAL_GetCompressorCurrentTooHighStickyFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
HAL_Bool HAL_GetCompressorShortedStickyFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
HAL_Bool HAL_GetCompressorShortedFault(HAL_CompressorHandle compressor_handle,
int32_t* status);
HAL_Bool HAL_GetCompressorNotConnectedStickyFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
HAL_Bool HAL_GetCompressorNotConnectedFault(
HAL_CompressorHandle compressor_handle, int32_t* status);
bool HAL_GetCompressorNotConnectedFault(HAL_CompressorHandle compressor_handle,
int32_t* status);
}

18
hal/include/HAL/Counter.h
View File

@@ -10,7 +10,7 @@
#include <stdint.h>
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
#include "HAL/Types.h"
enum HAL_Counter_Mode {
HAL_Counter_kTwoPulse = 0,
@@ -30,7 +30,7 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counter_handle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status);
void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counter_handle,
bool risingEdge, bool fallingEdge,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
void HAL_ClearCounterUpSource(HAL_CounterHandle counter_handle,
int32_t* status);
@@ -39,7 +39,7 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counter_handle,
HAL_AnalogTriggerType analogTriggerType,
int32_t* status);
void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counter_handle,
bool risingEdge, bool fallingEdge,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
void HAL_ClearCounterDownSource(HAL_CounterHandle counter_handle,
int32_t* status);
@@ -48,7 +48,7 @@ void HAL_SetCounterUpDownMode(HAL_CounterHandle counter_handle,
void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counter_handle,
int32_t* status);
void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counter_handle,
bool highSemiPeriod, int32_t* status);
HAL_Bool highSemiPeriod, int32_t* status);
void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counter_handle,
double threshold, int32_t* status);
int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counter_handle,
@@ -61,9 +61,11 @@ double HAL_GetCounterPeriod(HAL_CounterHandle counter_handle, int32_t* status);
void HAL_SetCounterMaxPeriod(HAL_CounterHandle counter_handle, double maxPeriod,
int32_t* status);
void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counter_handle,
bool enabled, int32_t* status);
bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle, int32_t* status);
bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle, int32_t* status);
HAL_Bool enabled, int32_t* status);
HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counter_handle,
int32_t* status);
HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counter_handle,
int32_t* status);
void HAL_SetCounterReverseDirection(HAL_CounterHandle counter_handle,
bool reverseDirection, int32_t* status);
HAL_Bool reverseDirection, int32_t* status);
}

29
hal/include/HAL/DIO.h
View File

@@ -9,11 +9,11 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle port_handle,
uint8_t input, int32_t* status);
int32_t input, int32_t* status);
void HAL_FreeDIOPort(HAL_DigitalHandle dio_port_handle);
HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status);
@@ -22,21 +22,20 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status);
void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator,
double dutyCycle, int32_t* status);
void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator,
uint32_t pin, int32_t* status);
void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, int16_t value,
int32_t pin, int32_t* status);
void HAL_SetDIO(HAL_DigitalHandle dio_port_handle, HAL_Bool value,
int32_t* status);
bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status);
bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle, int32_t* status);
HAL_Bool HAL_GetDIO(HAL_DigitalHandle dio_port_handle, int32_t* status);
HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dio_port_handle,
int32_t* status);
void HAL_Pulse(HAL_DigitalHandle dio_port_handle, double pulseLength,
int32_t* status);
bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status);
bool HAL_IsAnyPulsing(int32_t* status);
HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dio_port_handle, int32_t* status);
HAL_Bool HAL_IsAnyPulsing(int32_t* status);
void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle, int filter_index,
int32_t* status);
int HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status);
void HAL_SetFilterPeriod(int filter_index, uint32_t value, int32_t* status);
uint32_t HAL_GetFilterPeriod(int filter_index, int32_t* status);
void HAL_SetFilterSelect(HAL_DigitalHandle dio_port_handle,
int32_t filter_index, int32_t* status);
int32_t HAL_GetFilterSelect(HAL_DigitalHandle dio_port_handle, int32_t* status);
void HAL_SetFilterPeriod(int32_t filter_index, int64_t value, int32_t* status);
int64_t HAL_GetFilterPeriod(int32_t filter_index, int32_t* status);
}

16
hal/include/HAL/Encoder.h
View File

@@ -10,7 +10,7 @@
#include <stdint.h>
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
#include "HAL/Types.h"
extern "C" {
enum HAL_EncoderIndexingType {
@@ -28,7 +28,7 @@ enum HAL_EncoderEncodingType {
HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
bool reverseDirection, HAL_EncoderEncodingType encodingType,
HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
int32_t* status);
void HAL_FreeEncoder(HAL_EncoderHandle encoder_handle, int32_t* status);
int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status);
@@ -36,13 +36,13 @@ int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status);
int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle,
int32_t* status);
void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status);
int32_t HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status);
double HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status);
void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod,
int32_t* status);
uint8_t HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle,
int32_t* status);
uint8_t HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle,
int32_t* status);
HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle,
int32_t* status);
HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle,
int32_t* status);
double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle,
int32_t* status);
double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status);
@@ -51,7 +51,7 @@ void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate,
void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle,
double distancePerPulse, int32_t* status);
void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle,
uint8_t reverseDirection, int32_t* status);
HAL_Bool reverseDirection, int32_t* status);
void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle,
int32_t samplesToAverage, int32_t* status);
int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle,

102
hal/include/HAL/HAL.h
View File

@@ -9,31 +9,31 @@
#include <stdint.h>
#include "Accelerometer.h"
#include "AnalogAccumulator.h"
#include "AnalogGyro.h"
#include "AnalogInput.h"
#include "AnalogOutput.h"
#include "AnalogTrigger.h"
#include "Compressor.h"
#include "Constants.h"
#include "Counter.h"
#include "DIO.h"
#include "Errors.h"
#include "FRC_NetworkCommunication/UsageReporting.h"
#include "Handles.h"
#include "I2C.h"
#include "Interrupts.h"
#include "Notifier.h"
#include "PDP.h"
#include "PWM.h"
#include "Ports.h"
#include "Power.h"
#include "Relay.h"
#include "SPI.h"
#include "SerialPort.h"
#include "Solenoid.h"
#include "Task.h"
#include "HAL/Accelerometer.h"
#include "HAL/AnalogAccumulator.h"
#include "HAL/AnalogGyro.h"
#include "HAL/AnalogInput.h"
#include "HAL/AnalogOutput.h"
#include "HAL/AnalogTrigger.h"
#include "HAL/Compressor.h"
#include "HAL/Constants.h"
#include "HAL/Counter.h"
#include "HAL/DIO.h"
#include "HAL/Errors.h"
#include "HAL/I2C.h"
#include "HAL/Interrupts.h"
#include "HAL/Notifier.h"
#include "HAL/PDP.h"
#include "HAL/PWM.h"
#include "HAL/Ports.h"
#include "HAL/Power.h"
#include "HAL/Relay.h"
#include "HAL/SPI.h"
#include "HAL/SerialPort.h"
#include "HAL/Solenoid.h"
#include "HAL/Task.h"
#include "HAL/Types.h"
namespace HALUsageReporting = nUsageReporting;
@@ -104,48 +104,50 @@ struct HAL_JoystickDescriptor {
};
extern "C" {
HAL_PortHandle HAL_GetPort(uint8_t pin);
HAL_PortHandle HAL_GetPortWithModule(uint8_t module, uint8_t pin);
HAL_PortHandle HAL_GetPort(int32_t pin);
HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t pin);
const char* HAL_GetErrorMessage(int32_t code);
uint16_t HAL_GetFPGAVersion(int32_t* status);
uint32_t HAL_GetFPGARevision(int32_t* status);
int32_t HAL_GetFPGAVersion(int32_t* status);
int64_t HAL_GetFPGARevision(int32_t* status);
uint64_t HAL_GetFPGATime(int32_t* status);
bool HAL_GetFPGAButton(int32_t* status);
HAL_Bool HAL_GetFPGAButton(int32_t* status);
int HAL_SetErrorData(const char* errors, int errorsLength, int wait_ms);
int HAL_SendError(int isError, int32_t errorCode, int isLVCode,
const char* details, const char* location,
const char* callStack, int printMsg);
int32_t HAL_SetErrorData(const char* errors, int32_t errorsLength,
int32_t wait_ms);
int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
const char* details, const char* location,
const char* callStack, HAL_Bool printMsg);
int HAL_GetControlWord(HAL_ControlWord* controlWord);
int32_t HAL_GetControlWord(HAL_ControlWord* controlWord);
HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes);
int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs);
int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons);
int HAL_GetJoystickDescriptor(uint8_t joystickNum,
HAL_JoystickDescriptor* desc);
int HAL_GetJoystickIsXbox(uint8_t joystickNum);
int HAL_GetJoystickType(uint8_t joystickNum);
char* HAL_GetJoystickName(uint8_t joystickNum);
int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis);
int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs,
uint16_t leftRumble, uint16_t rightRumble);
int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes);
int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs);
int32_t HAL_GetJoystickButtons(int32_t joystickNum,
HAL_JoystickButtons* buttons);
int32_t HAL_GetJoystickDescriptor(int32_t joystickNum,
HAL_JoystickDescriptor* desc);
HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum);
int32_t HAL_GetJoystickType(int32_t joystickNum);
char* HAL_GetJoystickName(int32_t joystickNum);
int32_t HAL_GetJoystickAxisType(int32_t joystickNum, int32_t axis);
int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
int32_t leftRumble, int32_t rightRumble);
float HAL_GetMatchTime(int32_t* status);
void HAL_WaitForDSData();
bool HAL_GetSystemActive(int32_t* status);
bool HAL_GetBrownedOut(int32_t* status);
HAL_Bool HAL_GetSystemActive(int32_t* status);
HAL_Bool HAL_GetBrownedOut(int32_t* status);
int HAL_Initialize(int mode = 0);
int32_t HAL_Initialize(int32_t mode = 0);
void HAL_ObserveUserProgramStarting();
void HAL_ObserveUserProgramDisabled();
void HAL_ObserveUserProgramAutonomous();
void HAL_ObserveUserProgramTeleop();
void HAL_ObserveUserProgramTest();
uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber,
uint8_t context = 0, const char* feature = nullptr);
int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
int32_t context = 0, const char* feature = nullptr);
}

18
hal/include/HAL/I2C.h
View File

@@ -10,13 +10,13 @@
#include <stdint.h>
extern "C" {
void HAL_InitializeI2C(uint8_t port, int32_t* status);
int32_t HAL_TransactionI2C(uint8_t port, uint8_t deviceAddress,
uint8_t* dataToSend, uint8_t sendSize,
uint8_t* dataReceived, uint8_t receiveSize);
int32_t HAL_WriteI2C(uint8_t port, uint8_t deviceAddress, uint8_t* dataToSend,
uint8_t sendSize);
int32_t HAL_ReadI2C(uint8_t port, uint8_t deviceAddress, uint8_t* buffer,
uint8_t count);
void HAL_CloseI2C(uint8_t port);
void HAL_InitializeI2C(int32_t port, int32_t* status);
int32_t HAL_TransactionI2C(int32_t port, int32_t deviceAddress,
uint8_t* dataToSend, int32_t sendSize,
uint8_t* dataReceived, int32_t receiveSize);
int32_t HAL_WriteI2C(int32_t port, int32_t deviceAddress, uint8_t* dataToSend,
int32_t sendSize);
int32_t HAL_ReadI2C(int32_t port, int32_t deviceAddress, uint8_t* buffer,
int32_t count);
void HAL_CloseI2C(int32_t port);
}

12
hal/include/HAL/Interrupts.h
View File

@@ -10,18 +10,18 @@
#include <stdint.h>
#include "HAL/AnalogTrigger.h"
#include "HAL/Handles.h"
#include "HAL/Types.h"
extern "C" {
typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask,
void* param);
HAL_InterruptHandle HAL_InitializeInterrupts(bool watcher, int32_t* status);
HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher, int32_t* status);
void HAL_CleanInterrupts(HAL_InterruptHandle interrupt_handle, int32_t* status);
uint32_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle,
double timeout, bool ignorePrevious,
int32_t* status);
int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interrupt_handle,
double timeout, HAL_Bool ignorePrevious,
int32_t* status);
void HAL_EnableInterrupts(HAL_InterruptHandle interrupt_handle,
int32_t* status);
void HAL_DisableInterrupts(HAL_InterruptHandle interrupt_handle,
@@ -38,6 +38,6 @@ void HAL_AttachInterruptHandler(HAL_InterruptHandle interrupt_handle,
InterruptHandlerFunction handler, void* param,
int32_t* status);
void HAL_SetInterruptUpSourceEdge(HAL_InterruptHandle interrupt_handle,
bool risingEdge, bool fallingEdge,
HAL_Bool risingEdge, HAL_Bool fallingEdge,
int32_t* status);
}

2
hal/include/HAL/Notifier.h
View File

@@ -9,7 +9,7 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_NotifierHandle HAL_InitializeNotifier(void (*process)(uint64_t, void*),

21
hal/include/HAL/PDP.h
View File

@@ -9,15 +9,18 @@
#include <stdint.h>
#include "HAL/Types.h"
extern "C" {
void HAL_InitializePDP(uint8_t module);
double HAL_GetPDPTemperature(uint8_t module, int32_t* status);
double HAL_GetPDPVoltage(uint8_t module, int32_t* status);
double HAL_GetPDPChannelCurrent(uint8_t module, uint8_t channel,
void HAL_InitializePDP(int32_t module, int32_t* status);
HAL_Bool HAL_CheckPDPModule(int32_t module);
double HAL_GetPDPTemperature(int32_t module, int32_t* status);
double HAL_GetPDPVoltage(int32_t module, int32_t* status);
double HAL_GetPDPChannelCurrent(int32_t module, int32_t channel,
int32_t* status);
double HAL_GetPDPTotalCurrent(uint8_t module, int32_t* status);
double HAL_GetPDPTotalPower(uint8_t module, int32_t* status);
double HAL_GetPDPTotalEnergy(uint8_t module, int32_t* status);
void HAL_ResetPDPTotalEnergy(uint8_t module, int32_t* status);
void HAL_ClearPDPStickyFaults(uint8_t module, int32_t* status);
double HAL_GetPDPTotalCurrent(int32_t module, int32_t* status);
double HAL_GetPDPTotalPower(int32_t module, int32_t* status);
double HAL_GetPDPTotalEnergy(int32_t module, int32_t* status);
void HAL_ResetPDPTotalEnergy(int32_t module, int32_t* status);
void HAL_ClearPDPStickyFaults(int32_t module, int32_t* status);
}

26
hal/include/HAL/PWM.h
View File

@@ -9,14 +9,14 @@
#include <stdint.h>
#include "HAL/Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle port_handle,
int32_t* status);
void HAL_FreePWMPort(HAL_DigitalHandle pwm_port_handle, int32_t* status);
bool HAL_CheckPWMChannel(uint8_t pin);
HAL_Bool HAL_CheckPWMChannel(int32_t pin);
void HAL_SetPWMConfig(HAL_DigitalHandle pwm_port_handle, double maxPwm,
double deadbandMaxPwm, double centerPwm,
@@ -30,21 +30,21 @@ void HAL_GetPWMConfigRaw(HAL_DigitalHandle pwm_port_handle, int32_t* maxPwm,
int32_t* deadbandMinPwm, int32_t* minPwm,
int32_t* status);
void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
uint8_t eliminateDeadband, int32_t* status);
uint8_t HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
int32_t* status);
void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, uint16_t value,
HAL_Bool eliminateDeadband, int32_t* status);
HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwm_port_handle,
int32_t* status);
void HAL_SetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t value,
int32_t* status);
void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, float speed,
void HAL_SetPWMSpeed(HAL_DigitalHandle pwm_port_handle, double speed,
int32_t* status);
void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, float position,
void HAL_SetPWMPosition(HAL_DigitalHandle pwm_port_handle, double position,
int32_t* status);
void HAL_SetPWMDisabled(HAL_DigitalHandle pwm_port_handle, int32_t* status);
uint16_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status);
float HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status);
float HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status);
int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwm_port_handle, int32_t* status);
double HAL_GetPWMSpeed(HAL_DigitalHandle pwm_port_handle, int32_t* status);
double HAL_GetPWMPosition(HAL_DigitalHandle pwm_port_handle, int32_t* status);
void HAL_LatchPWMZero(HAL_DigitalHandle pwm_port_handle, int32_t* status);
void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwm_port_handle,
uint32_t squelchMask, int32_t* status);
uint16_t HAL_GetLoopTiming(int32_t* status);
int32_t squelchMask, int32_t* status);
int32_t HAL_GetLoopTiming(int32_t* status);
}

30
hal/include/HAL/Power.h
View File

@@ -9,19 +9,21 @@
#include <stdint.h>
#include "HAL/Types.h"
extern "C" {
float HAL_GetVinVoltage(int32_t* status);
float HAL_GetVinCurrent(int32_t* status);
float HAL_GetUserVoltage6V(int32_t* status);
float HAL_GetUserCurrent6V(int32_t* status);
bool HAL_GetUserActive6V(int32_t* status);
int HAL_GetUserCurrentFaults6V(int32_t* status);
float HAL_GetUserVoltage5V(int32_t* status);
float HAL_GetUserCurrent5V(int32_t* status);
bool HAL_GetUserActive5V(int32_t* status);
int HAL_GetUserCurrentFaults5V(int32_t* status);
float HAL_GetUserVoltage3V3(int32_t* status);
float HAL_GetUserCurrent3V3(int32_t* status);
bool HAL_GetUserActive3V3(int32_t* status);
int HAL_GetUserCurrentFaults3V3(int32_t* status);
double HAL_GetVinVoltage(int32_t* status);
double HAL_GetVinCurrent(int32_t* status);
double HAL_GetUserVoltage6V(int32_t* status);
double HAL_GetUserCurrent6V(int32_t* status);
HAL_Bool HAL_GetUserActive6V(int32_t* status);
int32_t HAL_GetUserCurrentFaults6V(int32_t* status);
double HAL_GetUserVoltage5V(int32_t* status);
double HAL_GetUserCurrent5V(int32_t* status);
HAL_Bool HAL_GetUserActive5V(int32_t* status);
int32_t HAL_GetUserCurrentFaults5V(int32_t* status);
double HAL_GetUserVoltage3V3(int32_t* status);
double HAL_GetUserCurrent3V3(int32_t* status);
HAL_Bool HAL_GetUserActive3V3(int32_t* status);
int32_t HAL_GetUserCurrentFaults3V3(int32_t* status);
}

13
hal/include/HAL/Relay.h
View File

@@ -9,15 +9,16 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle, uint8_t fwd,
int32_t* status);
HAL_RelayHandle HAL_InitializeRelayPort(HAL_PortHandle port_handle,
HAL_Bool fwd, int32_t* status);
void HAL_FreeRelayPort(HAL_RelayHandle relay_port_handle);
bool HAL_CheckRelayChannel(uint8_t pin);
HAL_Bool HAL_CheckRelayChannel(int32_t pin);
void HAL_SetRelay(HAL_RelayHandle relay_port_handle, bool on, int32_t* status);
bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status);
void HAL_SetRelay(HAL_RelayHandle relay_port_handle, HAL_Bool on,
int32_t* status);
HAL_Bool HAL_GetRelay(HAL_RelayHandle relay_port_handle, int32_t* status);
}

58
hal/include/HAL/SPI.h
View File

@@ -9,35 +9,37 @@
#include <stdint.h>
extern "C" {
void HAL_InitializeSPI(uint8_t port, int32_t* status);
int32_t HAL_TransactionSPI(uint8_t port, uint8_t* dataToSend,
uint8_t* dataReceived, uint8_t size);
int32_t HAL_WriteSPI(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
int32_t HAL_ReadSPI(uint8_t port, uint8_t* buffer, uint8_t count);
void HAL_CloseSPI(uint8_t port);
void HAL_SetSPISpeed(uint8_t port, uint32_t speed);
void HAL_SetSPIOpts(uint8_t port, int msb_first, int sample_on_trailing,
int clk_idle_high);
void HAL_SetSPIChipSelectActiveHigh(uint8_t port, int32_t* status);
void HAL_SetSPIChipSelectActiveLow(uint8_t port, int32_t* status);
int32_t HAL_GetSPIHandle(uint8_t port);
void HAL_SetSPIHandle(uint8_t port, int32_t handle);
#include "HAL/Types.h"
void HAL_InitSPIAccumulator(uint8_t port, uint32_t period, uint32_t cmd,
uint8_t xfer_size, uint32_t valid_mask,
uint32_t valid_value, uint8_t data_shift,
uint8_t data_size, bool is_signed, bool big_endian,
int32_t* status);
void HAL_FreeSPIAccumulator(uint8_t port, int32_t* status);
void HAL_ResetSPIAccumulator(uint8_t port, int32_t* status);
void HAL_SetSPIAccumulatorCenter(uint8_t port, int32_t center, int32_t* status);
void HAL_SetSPIAccumulatorDeadband(uint8_t port, int32_t deadband,
extern "C" {
void HAL_InitializeSPI(int32_t port, int32_t* status);
int32_t HAL_TransactionSPI(int32_t port, uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size);
int32_t HAL_WriteSPI(int32_t port, uint8_t* dataToSend, int32_t sendSize);
int32_t HAL_ReadSPI(int32_t port, uint8_t* buffer, int32_t count);
void HAL_CloseSPI(int32_t port);
void HAL_SetSPISpeed(int32_t port, int32_t speed);
void HAL_SetSPIOpts(int32_t port, HAL_Bool msb_first,
HAL_Bool sample_on_trailing, HAL_Bool clk_idle_high);
void HAL_SetSPIChipSelectActiveHigh(int32_t port, int32_t* status);
void HAL_SetSPIChipSelectActiveLow(int32_t port, int32_t* status);
int32_t HAL_GetSPIHandle(int32_t port);
void HAL_SetSPIHandle(int32_t port, int32_t handle);
void HAL_InitSPIAccumulator(int32_t port, int32_t period, int32_t cmd,
int32_t xfer_size, int32_t valid_mask,
int32_t valid_value, int32_t data_shift,
int32_t data_size, HAL_Bool is_signed,
HAL_Bool big_endian, int32_t* status);
void HAL_FreeSPIAccumulator(int32_t port, int32_t* status);
void HAL_ResetSPIAccumulator(int32_t port, int32_t* status);
void HAL_SetSPIAccumulatorCenter(int32_t port, int32_t center, int32_t* status);
void HAL_SetSPIAccumulatorDeadband(int32_t port, int32_t deadband,
int32_t* status);
int32_t HAL_GetSPIAccumulatorLastValue(uint8_t port, int32_t* status);
int64_t HAL_GetSPIAccumulatorValue(uint8_t port, int32_t* status);
uint32_t HAL_GetSPIAccumulatorCount(uint8_t port, int32_t* status);
double HAL_GetSPIAccumulatorAverage(uint8_t port, int32_t* status);
void HAL_GetSPIAccumulatorOutput(uint8_t port, int64_t* value, uint32_t* count,
int32_t HAL_GetSPIAccumulatorLastValue(int32_t port, int32_t* status);
int64_t HAL_GetSPIAccumulatorValue(int32_t port, int32_t* status);
int64_t HAL_GetSPIAccumulatorCount(int32_t port, int32_t* status);
double HAL_GetSPIAccumulatorAverage(int32_t port, int32_t* status);
void HAL_GetSPIAccumulatorOutput(int32_t port, int64_t* value, int64_t* count,
int32_t* status);
}

38
hal/include/HAL/SerialPort.h
View File

@@ -10,25 +10,25 @@
#include <stdint.h>
extern "C" {
void HAL_InitializeSerialPort(uint8_t port, int32_t* status);
void HAL_SetSerialBaudRate(uint8_t port, uint32_t baud, int32_t* status);
void HAL_SetSerialDataBits(uint8_t port, uint8_t bits, int32_t* status);
void HAL_SetSerialParity(uint8_t port, uint8_t parity, int32_t* status);
void HAL_SetSerialStopBits(uint8_t port, uint8_t stopBits, int32_t* status);
void HAL_SetSerialWriteMode(uint8_t port, uint8_t mode, int32_t* status);
void HAL_SetSerialFlowControl(uint8_t port, uint8_t flow, int32_t* status);
void HAL_SetSerialTimeout(uint8_t port, float timeout, int32_t* status);
void HAL_EnableSerialTermination(uint8_t port, char terminator,
void HAL_InitializeSerialPort(int32_t port, int32_t* status);
void HAL_SetSerialBaudRate(int32_t port, int32_t baud, int32_t* status);
void HAL_SetSerialDataBits(int32_t port, int32_t bits, int32_t* status);
void HAL_SetSerialParity(int32_t port, int32_t parity, int32_t* status);
void HAL_SetSerialStopBits(int32_t port, int32_t stopBits, int32_t* status);
void HAL_SetSerialWriteMode(int32_t port, int32_t mode, int32_t* status);
void HAL_SetSerialFlowControl(int32_t port, int32_t flow, int32_t* status);
void HAL_SetSerialTimeout(int32_t port, double timeout, int32_t* status);
void HAL_EnableSerialTermination(int32_t port, char terminator,
int32_t* status);
void HAL_DisableSerialTermination(uint8_t port, int32_t* status);
void HAL_SetSerialReadBufferSize(uint8_t port, uint32_t size, int32_t* status);
void HAL_SetSerialWriteBufferSize(uint8_t port, uint32_t size, int32_t* status);
int32_t HAL_GetSerialBytesReceived(uint8_t port, int32_t* status);
uint32_t HAL_ReadSerial(uint8_t port, char* buffer, int32_t count,
void HAL_DisableSerialTermination(int32_t port, int32_t* status);
void HAL_SetSerialReadBufferSize(int32_t port, int32_t size, int32_t* status);
void HAL_SetSerialWriteBufferSize(int32_t port, int32_t size, int32_t* status);
int32_t HAL_GetSerialBytesReceived(int32_t port, int32_t* status);
int32_t HAL_ReadSerial(int32_t port, char* buffer, int32_t count,
int32_t* status);
int32_t HAL_WriteSerial(int32_t port, const char* buffer, int32_t count,
int32_t* status);
uint32_t HAL_WriteSerial(uint8_t port, const char* buffer, int32_t count,
int32_t* status);
void HAL_FlushSerial(uint8_t port, int32_t* status);
void HAL_ClearSerial(uint8_t port, int32_t* status);
void HAL_CloseSerial(uint8_t port, int32_t* status);
void HAL_FlushSerial(int32_t port, int32_t* status);
void HAL_ClearSerial(int32_t port, int32_t* status);
void HAL_CloseSerial(int32_t port, int32_t* status);
}

22
hal/include/HAL/Solenoid.h
View File

@@ -9,21 +9,21 @@
#include <stdint.h>
#include "Handles.h"
#include "HAL/Types.h"
extern "C" {
HAL_SolenoidHandle HAL_InitializeSolenoidPort(HAL_PortHandle port_handle,
int32_t* status);
void HAL_FreeSolenoidPort(HAL_SolenoidHandle solenoid_port_handle);
bool HAL_CheckSolenoidModule(uint8_t module);
bool HAL_GetSolenoid(HAL_SolenoidHandle solenoid_port_handle, int32_t* status);
uint8_t HAL_GetAllSolenoids(uint8_t module, int32_t* status);
void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, bool value,
HAL_Bool HAL_CheckSolenoidModule(int32_t module);
HAL_Bool HAL_CheckSolenoidPin(int32_t pin);
HAL_Bool HAL_GetSolenoid(HAL_SolenoidHandle solenoid_port_handle,
int32_t* status);
int32_t HAL_GetAllSolenoids(int32_t module, int32_t* status);
void HAL_SetSolenoid(HAL_SolenoidHandle solenoid_port_handle, HAL_Bool value,
int32_t* status);
int HAL_GetPCMSolenoidBlackList(uint8_t module, int32_t* status);
bool HAL_GetPCMSolenoidVoltageStickyFault(uint8_t module, int32_t* status);
bool HAL_GetPCMSolenoidVoltageFault(uint8_t module, int32_t* status);
void HAL_ClearAllPCMStickyFaults(uint8_t module, int32_t* status);
int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status);
HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status);
HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status);
void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status);
}

2
hal/include/HAL/Handles.h → hal/include/HAL/Types.h
View File

@@ -42,3 +42,5 @@ typedef HAL_Handle HAL_FPGAEncoderHandle;
typedef HAL_Handle HAL_EncoderHandle;
typedef HAL_Handle HAL_GyroHandle;
typedef int32_t HAL_Bool;